Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof

ABSTRACT

The present disclosure relates to adapter assemblies for use with and to electrically and mechanically interconnect electromechanical surgical devices and surgical loading units, and to surgical systems including handheld electromechanical surgical devices and adapter assemblies for connecting surgical loading units to the handheld electromechanical surgical devices.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.14/991,401, filed Jan. 8, 2016, which claims the benefit of and priorityto U.S. Provisional Patent Application No. 62/145,794, filed Apr. 10,2015, the entire disclosure of each of which is incorporated byreference herein.

TECHNICAL FIELD

The present disclosure relates to adapter assemblies for use in surgicalsystems. More specifically, the present disclosure relates to adapterassemblies for use with, and to electrically and mechanicallyinterconnect, electromechanical surgical devices and surgical loadingunits, and to surgical systems including handheld electromechanicalsurgical devices and adapter assemblies for connecting surgical loadingunits to the handheld electromechanical surgical devices.

BACKGROUND

Surgical device manufacturers have developed product lines withproprietary powered drive systems for operating and/or manipulating thesurgical device. In instances the surgical devices include a poweredhandle assembly, which is reusable or disposable, and a disposable endeffector or the like that is selectively connected to the powered handleassembly prior to use and then disconnected from the end effectorfollowing use in order to be disposed of or in some instances sterilizedfor re-use.

Many of the existing end effectors for use with many of the existingpowered surgical devices and/or handle assemblies are driven by a linearforce. For examples, end effectors for performing endo-gastrointestinalanastomosis procedures, end-to-end anastomosis procedures and transverseanastomosis procedures, each typically require a linear driving force inorder to be operated. As such, these end effectors are not compatiblewith surgical devices and/or handle assemblies that use a rotary motionto deliver power or the like.

In order to make the linear driven end effectors compatible with poweredsurgical devices and/or handle assemblies that use a rotary motion todeliver power, adapters and/or adapter assemblies are used to interfacebetween and interconnect the linear driven end effectors with thepowered rotary driven surgical devices and/or handle assemblies. Many ofthese adapter and/or adapter assemblies are complex devices includingmany parts and requiring extensive labor to assemble. Accordingly, aneed exists to develop adapters and/or adapter assemblies thatincorporate fewer parts, are less labor intensive to assemble, and areultimately more economical to manufacture.

SUMMARY

The present disclosure relates to adapter assemblies for use with and toelectrically and mechanically interconnect electromechanical surgicaldevices and surgical loading units, and to surgical systems includinghandheld electromechanical surgical devices and adapter assemblies forconnecting surgical loading units to the handheld electromechanicalsurgical devices. Embodiments of the adapter assemblies of the presentdisclosure have a gimbal and two universal joints for providing thesurgical loading units with omnidirectional degrees of freedom. Theresulting articulation angle of the surgical loading units relative tothe handheld electromechanical surgical device can result in improvedaccess to tissue within a surgical site.

According to an aspect of the present disclosure, an adapter assemblyfor selectively interconnecting a surgical loading unit that isconfigured to perform a function and a surgical device that isconfigured to actuate the surgical loading unit, the surgical loadingunit including an axially translatable drive member, and the surgicaldevice including one or more rotatable drive shafts, includes a housing,an outer tube, an articulation assembly, and a firing assembly.

The housing is configured and adapted for connection with the surgicaldevice and to be in operative communication with a rotatable drive shaftrotatable drive shafts of the surgical device. The outer tube defines alongitudinal axis and has a proximal end supported by the housing and adistal end portion configured and adapted for connection with thesurgical loading unit. The distal end portion of the outer tube is inoperative communication with the axially translatable drive member ofthe surgical loading unit.

The adapter assembly includes an articulation assembly including agimbal supported in the distal end portion of the outer tube and aplurality of threaded sleeves supported in the housing. The plurality ofthreaded sleeves is coupled to the gimbal by at least one cable. Thefiring assembly includes a firing shaft supported within the housing andthe outer tube. The firing shaft includes at least one universal joint.Rotation of at least one of the plurality of rotatable drive shafts ofthe surgical device translates at least two of the plurality of threadedsleeves to articulate the gimbal relative to the longitudinal axis ofthe outer tube with the at least one cable. Articulation of the gimbalarticulates the at least one universal joint of the firing shaft and thesurgical loading unit about the distal end portion of the outer tube.

In embodiments, the firing shaft includes a proximal end configured andadapted to couple to at least one of the plurality of rotatable driveshafts of the surgical device, and a distal end configured and adaptedto couple to the axially translatable drive member of the surgicalloading unit to enable firing of the surgical loading unit. The at leastone universal joint is positioned between the proximal and distal endsof the firing shaft. In some embodiments, the firing shaft is configuredand adapted to transmit a rotational force through the gimbal toeffectuate axial translation of the axially translatable drive memberand to fire the surgical loading unit.

The firing shaft may include a proximal firing shaft, a central tube,and a distal firing shaft. In embodiments, the proximal firing shaft andthe central tube are connected at a proximal universal joint of the atleast one universal joint such that the central tube is movable relativeto the proximal firing shaft. In some embodiments, the proximal firingshaft includes a pair of opposed distal tabs that form a first hinge ofthe proximal universal joint and the central tube includes a pair ofopposed proximal tabs that form a second hinge of the proximal universaljoint. The first and second hinges of the proximal universal joint areinterconnected by a proximal bearing assembly. In certain embodiments,the proximal bearing assembly includes a plurality of outer arcuatesurfaces. Each outer arcuate surface is disposed in an inner arcuatesurface defined in each of the pair of opposed distal tabs of theproximal firing shaft and the pair of opposed proximal tabs of thecentral tube.

In embodiments, the central tube and the distal firing shaft areconnected at a distal universal joint of the at least one universaljoint such that the distal firing shaft is movable relative to thecentral tube. In some embodiments, the central tube includes a pair ofopposed distal tabs that form a first hinge of the distal universaljoint and the distal firing shaft includes a pair of opposed proximaltabs that form a second hinge of the distal universal joint. The firstand second hinges are interconnected by a distal bearing assembly. Incertain embodiments, the distal bearing assembly includes a plurality ofouter arcuate surfaces. Each outer arcuate surface is disposed in aninner arcuate surface defined in each of the pair of opposed distal tabsof the central tube and the pair of opposed proximal tabs of the distalfiring shaft. In some embodiments, the gimbal defines a gimbal boretherethrough that is configured and adapted to receive the distaluniversal joint such that the gimbal is disposed around the distaluniversal joint.

In embodiments, a distal end portion of the proximal firing shaftdefines a bore therein, the central tube defines a bore therethrough,and a proximal end portion of the distal firing shaft defines a boretherein. A spring wire is disposed within the bores of the proximalfiring shaft, the central tube, and the distal firing shaft. In someembodiments, the spring wire is configured to bias the firing assemblyalong the longitudinal axis of the outer tube and is bendable uponarticulation of the gimbal.

In some embodiments, the gimbal defines at least one slot in an outersurface thereof, and the at least one cable is secured within the atleast one slot. In some embodiments, the outer tube includes a distalmounting member disposed therein that includes an outer surface thatdefines at least one recess, with the at least one cable extendingthrough the recess.

In embodiments, the plurality of threaded sleeves is supported on atleast one threaded screw. In some embodiments, the at least one threadedscrew includes a first set of threads and a second set of threads. Thefirst and second set of threads can be threaded in opposite directions.A first one of the plurality of threaded sleeves can be threadablyengaged with the first set of threads and a second one of the pluralityof threaded sleeves can be threadably engaged with the second set ofthreads. Rotation of the at least one threaded screw in a firstrotational direction can approximate the first one and the second one ofthe plurality of threaded sleeves. Rotation of the at least one threadedscrew in a second rotational direction can separate the first one andthe second one of the plurality of threaded sleeves.

The adapter assembly may include an articulation actuator secured to thehousing. In embodiments, the articulation actuator includes a joystickextending outwardly from the housing. The joystick is configured to movein a direction corresponding to a direction of articulation of thesurgical loading unit. In some embodiments, the articulation actuatorincludes a plurality of directional switches disposed within the housingand the joystick includes a rocker configured and dimensioned to contactone or more of the directional switches upon movement of the joystick.

According to another aspect of the present disclosure, anelectromechanical system includes a surgical loading unit including atleast one axially translatable drive member, a handheldelectromechanical surgical device including a housing and at least onerotatable drive shaft supported in the housing, and an adapter assemblyselectively connectable between the housing of the surgical device andthe surgical loading unit. The adapter assembly includes an articulationassembly and a firing assembly. The articulation assembly includes agimbal and a plurality of threaded sleeves coupled to the gimbal by atleast one cable. The plurality of threaded sleeves are movable toarticulate the gimbal with the at least one cable. Articulation of thegimbal articulates the surgical loading unit. The firing assemblyincludes a firing shaft connectable between the at least one rotatabledrive shaft of the surgical device and the at least one axiallytranslatable drive member. The firing shaft includes at least oneuniversal joint and is movable at the at least one universal joint withthe gimbal to articulate the surgical loading unit and rotatable totranslate the at least one axially translatable drive member through thesurgical loading unit.

Further details and aspects of exemplary embodiments of the presentdisclosure are described in more detail below with reference to theappended figures.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the disclosureand, together with a general description of the disclosure given above,and the detailed description of the embodiment(s) given below, serve toexplain the principles of the disclosure, wherein:

FIG. 1A is a perspective view of an electromechanical surgical system inaccordance with the principles of the present disclosure;

FIG. 1B is an enlarged, perspective view of the indicated area of detailshown in FIG. 1A;

FIG. 2 is an enlarged, perspective view of an adapter assembly of theelectromechanical surgical system of FIG. 1A;

FIG. 3 is an enlarged, perspective view of a distal end portion of theadapter assembly shown in the indicated area of detail of FIG. 2;

FIG. 4 is a bottom, cross-sectional view of the adapter assembly of FIG.2, as taken along line 4-4 of FIG. 2, illustrating an articulationassembly thereof in a first condition;

FIG. 5A is a side, perspective view, with parts separated, of a proximalportion of the adapter assembly of FIG. 2;

FIG. 5B is an enlarged perspective view of an actuator of the proximalportion of the adapter assembly of FIG. 5A;

FIG. 6 is front, perspective view of the proximal portion of the adapterassembly of FIG. 2, as taken along line 6-6 of FIG. 4;

FIG. 7 is an enlarged, side perspective view of a portion of thearticulation assembly and a portion of a firing assembly, with thearticulation assembly shown in the first condition;

FIG. 8 is an enlarged, bottom perspective view of a section of theportion of the articulation assembly shown in FIG. 7;

FIG. 9 is an enlarged, cross-sectional, bottom view of the indicatedarea of detail shown in FIG. 4, with the articulation assembly beingshown in a second condition;

FIG. 10A is an enlarged, perspective view, with parts separated, of thedistal portion of the adapter assembly shown in FIG. 3;

FIG. 10B is an enlarged, perspective view, with parts separated, of afiring assembly of the distal portion of the adapter assembly of FIG.10A;

FIG. 11 is an enlarged, perspective view of a gimbal of the articulationassembly;

FIG. 12 is an enlarged, side, perspective view of the distal portion ofthe adapter assembly shown in FIG. 3, with portions thereof removed forclarity, the distal portion of the adapter assembly being shown in anon-articulated condition;

FIG. 13 is an enlarged, front, perspective view of a distal portion ofthe articulation assembly;

FIG. 14 is a side, cross-sectional view of the adapter assembly of FIG.2, as taken along line 14-14 of FIG. 2;

FIG. 15 is an enlarged, side, cross-sectional view of the indicated areaof detail shown in FIG. 14;

FIG. 16 is an enlarged, perspective view, with parts separated, of asurgical loading unit of the electromechanical surgical system of FIG.1A;

FIGS. 17A and 17B are progressive, side, perspective views illustratinga proximal portion of a surgical loading unit of the electromechanicalsurgical system of FIG. 1A being secured to the distal portion of theadapter assembly shown in FIG. 3;

FIG. 18 is an enlarged, front, perspective view of the distal endportion of the adapter assembly of FIG. 3, the distal end portion of theadapter assembly being shown in an articulated condition;

FIG. 19 is an enlarged, rear, perspective view of the distal end portionof the adapter assembly of FIG. 3 with portions thereof removed forclarity, the distal end portion of the adapter assembly being shown inthe articulated condition;

FIG. 20 is an enlarged, front, perspective view of a portion of theelectromechanical surgical system of FIG. 1A, the surgical loading unitthereof being shown in the articulated condition; and

FIG. 21 is an enlarged, perspective view, with parts separated of afiring assembly of a distal portion of an adapter assembly in accordancewith another embodiment of the present disclosure.

DETAILED DESCRIPTION

Electromechanical surgical systems of the present disclosure includesurgical devices in the form of powered handheld electromechanicalinstruments configured for selective attachment to a plurality ofdifferent end effectors that are each configured for actuation andmanipulation by the powered handheld electromechanical surgicalinstrument. In particular, the presently described electromechanicalsurgical systems include adapter assemblies that interconnect thepowered handheld electromechanical surgical instruments to the pluralityof different end effectors. Each adapter assembly includes anarticulation assembly and a firing assembly that is operatively coupledto a powered handheld electromechanical surgical instrument foreffectuating actuation and/or manipulation thereof. The articulationassembly includes one or more cables that interconnect a gimbal and twoor more threaded sleeves. The firing assembly includes at least oneuniversal joint operatively connected with the gimbal. The gimbalcouples to one of the plurality of end effectors such that axialmovement of the threaded sleeves moves the one or more cables to rotatethe gimbal and to bend the firing assembly in response to rotation ofthe gimbal to effectuate articulation of the end effector about a distalend of the adapter assembly.

Embodiments of the presently disclosed electromechanical surgicalsystems, surgical devices/handle assemblies, adapter assemblies, and/orloading units are described in detail with reference to the drawings, inwhich like reference numerals designate identical or correspondingelements in each of the several views. As used herein the term “distal”refers to that portion of the system, assembly, device, and/or componentthereof, farther from the user, while the term “proximal” refers to thatportion of the system, assembly, device, and/or component thereof,closer to the user.

Turning now to FIGS. 1A and 1B, an electromechanical surgical system, inaccordance with the present disclosure, generally referred to as 10,includes a surgical device 100 in the form of a powered handheldelectromechanical instrument, an adapter assembly 200, and a loadingunit 300 (e.g., an end effector, multiple- or single-use loading unit).Surgical device 100 is configured for selective connection with adapterassembly 200, and, in turn, adapter assembly 200 is configured forselective connection with loading unit 300. Together, surgical device100 and adapter assembly 200 may cooperate to actuate loading unit 300.

Surgical device 100 includes a handle housing 102 including a circuitboard (not shown) and a drive mechanism (not shown) situated therein.The circuit board is configured to control the various operations ofsurgical device 100. Handle housing 102 defines a cavity therein (notshown) for selective removable receipt of a rechargeable battery (notshown) therein. The battery is configured to supply power to any of theelectrical components of surgical device 100. Handle housing 102supports a plurality of motors (not shown), each in electricalcommunication with the circuit board and each including a rotatabledrive shaft extending therefrom.

Handle housing 102 includes an upper housing portion 102 a which housesvarious components of surgical device 100, and a lower hand grip portion102 b extending from upper housing portion 102 a. Lower hand gripportion 102 b may be disposed distally of a proximal-most end of upperhousing portion 102 a. The location of lower housing portion 102 brelative to upper housing portion 102 a is selected to balance a weightof a surgical device 100 that is connected to or supporting adapterassembly 200 and/or loading unit 300.

Handle housing 102 provides a housing in which the drive mechanism (notshown) is situated. The drive mechanism is configured to drive shaftsand/or gear components in order to perform the various operations ofsurgical device 100. In particular, the drive mechanism is configured todrive shafts and/or gear components in order to selectively articulateloading unit 300 about a longitudinal axis “X” and relative to a distalend of adapter assembly 200, to selectively rotate loading unit 300about longitudinal axis “X” and relative to handle housing 102, toselectively move/approximate/separate an anvil assembly 310 and acartridge assembly 320 of loading unit 300 relative to one another,and/or to fire a stapling and cutting cartridge within cartridgeassembly 320 of loading unit 300.

Handle housing 102 defines a connection portion 104 configured to accepta proximal end of adapter assembly 200. Connection portion 104 houses anarticulation contact surface 105 in electrical communication with thecircuit board (not shown) and a plurality of rotatable drive shafts orconnectors 106. Each rotatable drive shaft of the plurality of rotatabledrive shafts 106 can be independently, and/or dependently, actuatableand rotatable by the drive mechanism or motors (not shown) housed withinhousing handle 102. In embodiments, the plurality of rotatable driveshafts 106 includes rotatable drive shafts, 106 a, 106 b, and 106 carranged in a common plane or line with one another. As can beappreciated, the plurality of rotatable drive shafts can be arranged inany suitable configuration. The drive mechanism (not shown) may beconfigured to selectively drive one of the rotatable drive shafts 106 ofsurgical instrument 100, at a given time.

Handle housing 102 supports a plurality of finger-actuated controlbuttons, rocker devices, and the like for activating various functionsof surgical device 100. For example, handle housing 102 supports aplurality of actuators including, for example, an actuation pad 108 inoperative registration with a plurality of sensors 108 a that cooperatewith actuation pad 108 to effectuate, for example, opening, closing,and/or firing of loading unit 300. Handle housing 102 can supportactuators 107 a, 107 b which can be disposed in electrical communicationwith the motors of handle housing 102 to effectuate rotation ofrotatable drive shafts 106 a, 106 b, and/or 106 c for actuation thereofto enable adjustment of one or more of the components of adapterassembly 200. Any of the presently described actuators can have anysuitable configuration (e.g., button, knob, toggle, slide, etc.)

Reference may be made to International Application No.PCT/US2008/077249, filed Sep. 22, 2008 (Inter. Pub. No. WO 2009/039506),and U.S. Patent Application Publication No. 2011/0121049, filed on Nov.20, 2009, the entire contents of each of which being incorporated hereinby reference, for a detailed description of various internal componentsof and operation of exemplary electromechanical surgical systems, thecomponents of which are combinable and/or interchangeable with one ormore components of electromechanical surgical systems 10 describedherein.

With reference to FIGS. 2-3, adapter assembly 200 includes a housing 202at a proximal end portion thereof and an outer tube 204 that extendsdistally from housing 202 to a distal end portion 2040 thereof.

Turning now to FIGS. 4-9, housing 202 of adapter assembly 200 includes aproximal housing 202 a and a distal housing 202 b that support anarticulation actuator 205 (FIGS. 5A-5B) to effectuate articulation ofloading unit 300. As shown in FIGS. 5A-5B, articulation actuator 205includes a support member 205 a disposed within proximal housing 202 aand including a plurality of directional switches 205 b disposed thereonin electrical communication with articulation contact surface 105 (FIG.1A) of surgical device 100. Alternatively, directional switches 205 bare in operative communication (e.g., wireless communication) with thecircuit board (not shown) of surgical device 100. A joystick 205 c ispivotally coupled to support member 205 a and includes a knob 205 d anda rocker 205 e disposed at opposed ends thereof. Knob 205 d extendsoutwardly from the proximal housing 202 a and is configured foractuation by a finger of a user. Rocker 205 e is configured anddimensioned to contact one or more of directional switches 205 b whenjoystick 205 c is pivoted/deflected in a corresponding direction byactuation of knob 205 d to enable omni-directional articulation ofloading unit 300 relative to adapter assembly 200. Joystick 205 c isbiased in a centered position such that rocker 205 e does not contactany of directional switches 205 b. In embodiments, directional switches205 b correspond to different yaw and/or pitch angles, relative tolongitudinal axis “X,” to which loading unit 300 can be moved, uponactivation of one or more of the directional switches 205 b in responseto a deflection direction and/or angle of joystick 205 c.

With continued reference to FIG. 5A, proximal housing 202 a includes ahousing body 206 defining a central slot 206 a therethrough and having adistal lip 206 b extending radially outwardly therefrom. Housing body206 supports a mounting assembly 210 thereon. Mounting assembly 210 issupported on housing body 206 and includes a shaft 212 that extendsoutwardly from housing body 206, a spring 214 that is supported about anouter surface of shaft 212, and a mounting button 216 that engagesspring 214 and shaft 212. Spring 214 contacts a bottom surface ofmounting button 216 to bias mounting button 216 upwardly to an extendedposition spaced from housing body 206. Spring 214 is sufficientlycompressible to enable mounting button 216 to be depressed downwardlyfrom the extended position to a compressed position. In the compressedposition, mounting button 216 is disposed in close approximation withhousing body 206 and offset from the extended position. Mounting button216 includes sloped engagement features 216 a that are configured tocontact connection portion 104 (FIG. 1A) of handle housing 102 whilemounting button 216 is in the extended position to facilitate securementof housing 202 to connection portion 104 of handle housing 102.

As seen in FIGS. 4 and 5A, distal housing 202 b includes a firsthalf-section 218 a and a second half-section 218 b. First half-section218 a includes a plurality of pins 220 extending therefrom and secondhalf-section 218 b defines a plurality of bores 222 adapted to receivethe plurality of pins 220 of first half-section 218 a to mate the firstand second half-sections 218 a, 218 b together. Each of first and secondhalf-sections 218 a, 218 b defines an internal lip receiving annularrecess 224 adapted to receive a portion of distal lip 206 b of proximalhousing 202 a to facilitate securement of proximal and distal housings202 a, 202 b. Each of first and second half-sections 218 a, 218 bdefines an articulation-assembly-receiving recess 226 that is incommunication with an outer-tube-receiving channel 228. Eachouter-tube-receiving channel 228 is defined through a distal end of oneof first and second half-sections 218 a, 218 b.

An articulation assembly 230 is supported within housing 202 and outertube 204. Articulation assembly 230 includes a pair of sleeve assemblies240 a, 240 b at a proximal end thereof and a gimbal 250 at a distal endthereof. The pair of sleeve assemblies 240 a, 240 b and the gimbal 250are connected by a plurality of cables 260. As depicted in FIG. 6, anddescribed in greater detail below, the plurality of cables 260 includesa first cable 260 a, a second cable 260 b, a third cable 260 c, and afourth cable 260 d.

With reference to FIGS. 6-9, in conjunction with FIGS. 4 and 5A, each ofthe pair of sleeve assemblies 240 a, 240 b includes a support shaft 242,a threaded screw assembly 244, a bearing block 245, and a pair ofthreaded sleeves 246, 248.

As seen in FIG. 4, support shaft 242 includes a proximal portion 242 areceived in central slot 206 a (see FIG. 5A) of proximal housing 202 a.Proximal portion 242 a of support shaft 242 defines a threaded bore 242b therein. Each threaded bore 242 b receives therein a screw 243 that isadvanced through a screw passage 203 defined in proximal housing 202 ato facilitate securement of articulation assembly 230 to proximalhousing 202 a. Support shaft 242 further includes a distal portion 242 cthat extends distally from proximal portion 242 a.

With reference to FIG. 5A, each screw 243 can function as a cabletensioner to adjust overall slack and/or tension in one or more of theplurality of cables 260 as depicted by axial lines of translation “A1”and “A2” of the pair of sleeve assemblies 240 a, 240 b and by rotationalarrows “B1” and “B2” of screws 243. For example, with reference again toFIG. 4, the pair of sleeve assemblies 240 a, 240 b are disposed inoffset longitudinal relationship with respect to each other (e.g.,compare relative longitudinal relationship between bearing blocks 245and/or distal ends of threaded screw assemblies 244) to depictdifferences in slack adjustment in each sleeve assembly 240 a, 240 b. Inembodiments, slack or tension adjustments of one of the pair of sleeveassemblies 240 a, 240 b can be different and/or the same as the other ofthe pair of sleeve assemblies 240 a, 240 b, and likewise can be furtheradjusted as necessary to achieve a desired cable slack or tension in oneor more of the plurality of cables 260. In particular, clockwise and/orcounterclockwise (e.g., tightening and/or loosening) rotation of screw243 relative to one of threaded bores 242 b approximates and/orseparates screw 243 relative to support shaft 242 to axially move one orboth of the pair of sleeve assemblies 240 a, 240 b (proximally and/ordistally) to adjust slack or tension in one or more of the plurality ofcables 260. In embodiments, rotation of one or both screws 243 in afirst direction, draws one or both of the pair of sleeve assemblies 240a, 240 b proximally, and rotation of one or both screws in a seconddirection, distally advances one or both of the pair of sleeveassemblies 240 a, 240 b. In some embodiments, rotation in the firstdirection of one or both screws 243 draws one or both of the pair ofsleeve assemblies 240 a, 240 b proximally, and rotation in the seconddirection of one or both screws 243 distally advances one or both of thepair of sleeve assemblies 240 a, 240 b. As can be appreciated, eachscrew 243 can be independently and/or dependently rotatable with respectto the other screw 243.

Threaded screw assembly 244 includes a threaded screw 244 a extendingdistally from an input socket 244 b with a distal end of input socket244 b being mechanically coupled to a proximal end of threaded screw 244a. Each input socket 244 b is configured to engage one of the pluralityof rotatable drive shafts 106 of handle housing 102. For example, inputsocket 244 b of sleeve assembly 240 b can be mechanically coupled torotatable drive shaft 106 a and input socket 244 b of sleeve assembly240 a can be mechanically coupled to rotatable drive shaft 106 c.

Threaded screw 244 a includes a first thread portion 244 c and a secondthread portion 244 d that are threaded in opposite directions to oneanother. For example, first thread portion 244 c can be a left-handthread and second thread portion 244 d can be a right-hand thread, orvice-versa. In embodiments, first and second thread portions 244 c, 244d have the same thread pitch. Threaded screw 244 a can include a thirdthread portion 244 e. Third thread portion 244 e can be either right orleft handed and can have the same and/or different pitch as the firstand/or second thread portions 244 c, 244 d. As can be appreciated, anyof first, second, or third thread portions 244 c, 244 d, 244 e can haveany suitable pitch, shape, dimension, and/or configuration. Withreference to FIG. 4, threaded screw 244 includes a retaining member orflange 244 f extending from an outer surface thereof.

As seen in FIG. 8, bearing block 245 is mounted on proximal end portionof support shaft 242 and on threaded screw assembly 244. Bearing block245 includes distal plate 245 a and a proximal plate 245 b that aresecured together by a pair of fasteners 245 c, 245 d. With referencealso to FIG. 4, distal and proximal plates 245 a, 245 b define first andsecond channels 245 e, 245 f therethrough. First channel 245 e receivesa proximal portion of threaded screw 244 and encloses retaining member244 f and a thrust bearing 247. Second channel 245 f receives supportshaft 242, which can be fixedly secured therein to facilitate axialadvancement of one of the pair of sleeve assemblies 240 a, 240 b uponrotation of screws 243 as described above. As can be appreciated,bearing block 245 of sleeve assembly 240 a is a mirror image of bearingblock 245 of sleeve assembly 240 b.

Referring to FIGS. 7 and 8, each of the pair of threaded sleeves 246,248 has an L-shaped profile. As seen in FIG. 9, threaded sleeve 246defines first and second bores 246 a, 246 b therethrough with first bore246 a being threaded and second bore 246 b being smooth. Similarly,threaded sleeve 248 defines first and second bores 248 a, 248 btherethrough with first bore 248 a being threaded and second bore 248 bbeing smooth. Each of the pair of sleeve assemblies 240 a, 240 b isarranged so that threaded bores 246 a, 248 a receive a threaded screw244 a such that first thread portion 244 c threadably engages threadedbore 246 a and such that second thread portion 244 d threadably engagesthreaded bore 248 a. Each of the pair of sleeve assemblies 240 a, 240 bis also arranged so that smooth bores 246 b, 248 b of threaded sleeves246, 248 receive distal portion 242 c of support shaft 242 such thatthreaded sleeves 246, 248 move axially along distal portion 242 c ofsupport shaft 242. In embodiments, threaded sleeve 246 of sleeveassembly 240 a can be disposed in mirrored relation with threaded sleeve246 of sleeve assembly 240 b.

As seen in FIG. 8, each of the pair of threaded sleeves 246, 248 defineshaft-receiving channels 246 c, 248 c and cable-receiving channels 246d, 248 d in side surfaces thereof. Each of the pair of threaded sleeves246, 248 is coupled to one of the plurality of cables 260 by a cableferrule 262 connected to a proximal end of each of the plurality ofcables 260. Cable-receiving channels 246 d, 248 d receive cable ferrule262 of one of the plurality of cables 260 therein to secure one of theplurality of cables 260 to each of the pair of threaded sleeves 246,248.

With reference to FIGS. 10A-13, each of the plurality of cables 260extends distally to a retaining ball 262 (see FIG. 13) to secure thedistal end of the first, second, third, and fourth cables 260 a-260 d togimbal 250. Each opposite pair of the plurality of cables 260 can havetwo cables that are secured to gimbal 250 at locations 180 degrees apart(e.g., first and fourth cables 260 a, 260 d or second and third cables260 b, 260 c).

As seen in FIG. 6, each opposite pair of the plurality of cables 260 hasproximal ends that connect to the pair of threaded sleeves 246, 248 onthe same threaded screw 244. Thus, the proximal end of the first andfourth cables 260 a, 260 d connect to one threaded screw 244, and theproximal end of the second and third cables 260 b, 260 c connect to theother threaded screw 244. It is contemplated that one or more of theplurality of cables can criss-cross within outer tube 204.

Referring again to FIGS. 10A-13, gimbal 250 has a proximal portion 250 awith a generally rounded shape and a distal portion 250 b extending fromproximal portion 250 a. Proximal portion 250 a defines a plurality ofball-retaining slots 252 (e.g., four) in a distal outer surface thereofso that each ball-retaining slot of the plurality of ball-retainingslots 252 is dimensioned to receive one of retaining balls 262 of theplurality of cables 260 to secure each of the plurality of cables 260 togimbal 250.

Proximal portion 250 a of gimbal 250 includes a plurality of spacedapart wings 254 that extend from an outer surface thereof. Each wing ofthe plurality of spaced-apart wings 254 includes a top surface 254 a andside surfaces 254 b. Side surfaces 254 b of adjacent wings of theplurality of spaced-apart wings 254 define a plurality of slots 256about the outer surface of proximal portion 250 a. The plurality ofslots 256, which are configured to receive the plurality of cables 260,are in communication with the plurality of ball-retaining slots 252 andextend proximally therefrom.

Distal portion 250 b of gimbal 250 includes a tubular shaft 251 having aflange 253 extending outwardly from an outer surface of tubular shaft251. Proximal and distal portions 250 a, 250 b of gimbal 250 define agimbal bore 258 (see FIGS. 11-12) that extends therethrough and includesfirst section 258 a defined by inner surfaces of distal portion 250 band a second section 258 b defined by inner surfaces of proximal portion250 a.

Referring to FIG. 14, a firing assembly 270 is supported within housing202 and outer tube 204 of adapter assembly 200. Firing assembly 270includes an input socket 272 adapted to couple to rotatable drive shaft106 b of housing handle 102 (see FIG. 1A), a proximal firing shaft 274extending distally from input socket 272, a central tube 275 extendingdistally from the proximal firing shaft 274, and a distal firing shaft276 extending distally from central tube 275. Proximal firing shaft 274and central tube 275 intersect at proximal universal joint 271, andcentral tube 275 and distal firing shaft 276 intersect at distaluniversal joint 273.

With continued reference to FIG. 14, a housing bearing member 280supports a proximal end of proximal firing shaft 274 within proximalhousing 202 a, and proximal and distal mounting members 282, 284 supporta distal end of proximal firing shaft 274 within outer tube 204. Housingbearing member 280 includes a thrust bearing 283 that receives proximalfiring shaft 274 therethrough to enable proximal firing shaft 274 torotate. Proximal mounting member 282 defines a central passage 282 atherethrough that receives the proximal firing shaft 274.

As seen in FIGS. 10A, 14, and 15, distal mounting member 284 includes aproximal section 284 a and a distal section 284 b. Proximal section 284a defines a pair of slots 284 c and a pair of screw openings 284 dtherethrough, with each of the pair of slots 284 c and the pair of screwopenings 284 d disposed on opposed top and bottom surfaces. The pair ofslots 284 c receives a respective pair of pins 285 a to secure distalmounting member 284 about a recess 274 g defined in proximal firingshaft 274 to allow rotation of proximal firing shaft 274 relative topins 285 a. Distal section 284 b of distal mounting member 284 includesan inner surface 284 e that defines a hemispherical opening 284 f thatreceives a proximal portion of proximal universal joint 271 to enablearticulation of proximal universal joint 271 about at least two axesorthogonal to longitudinal axis “X” upon articulation of gimbal 250.Distal mounting member 284 includes an outer surface 284 g that definesa plurality of recesses 284 h (e.g., four), with each of the recesses284 h dimensioned to receive one of the plurality of cables 260extending from between gimbal 250 and the pair of sleeve assemblies 240a, 240 b. In embodiments, recesses 284 h have a distal tapered portion284 i to enable cable 260 extending therethrough to move over anincreased range of motion during articulation of gimbal 250.

With continued reference to FIGS. 10A, 10B, 14, and 15, proximal firingshaft 274 includes a proximal end portion 274 a that is received in adistal end of input socket 272, a body portion 274 b extending distallyfrom proximal end portion 274 a, and a distal end portion 274 c having ahemispherical shape that extends distally from body portion 274 b.Distal end portion 274 c includes a bore 274 d defined therein and apair of opposed distal tabs 274 e that form a first hinge 271 a ofproximal universal joint 271. Each of the distal tabs 274 e has an innerarcuate surface 274 f in which outer arcuate surfaces 277 a, 277 b of aproximal bearing assembly 277 are disposed. Outer arcuate surfaces 277a, 277 b are complementary in shape with inner arcuate surfaces 274 f Inembodiments, inner arcuate surfaces 274 f are concave surfaces and outerarcuate surfaces 277 a, 277 b are convex surfaces. Proximal bearingassembly 277 includes a ring-shaped body 277 f including a plurality ofouter arcuate surfaces 277 a-277 d extending from an outer surface 277 gof ring-shaped body 277 f. An inner surface 277 h of ring-shaped body277 f defines an opening 277 e therethrough.

Central tube 275 includes proximal and distal end portions 275 a, 275 ceach having a hemispherical shape and a body portion 275 b extendingbetween proximal and distal end portions 275 a, 275 c. Central tube 275defines a bore 275 d extending longitudinally therethrough. Proximal endportion 275 a of central tube 275 includes a pair of opposed proximaltabs 275 e that form a second hinge 271 b of proximal universal joint271. The pair of opposed proximal tabs 275 e are maintained at about a90° angle with respect to the pair of opposed distal tabs 274 e ofproximal firing shaft 274. Each of the proximal tabs 275 e has an innerarcuate surface 275 f in which outer arcuate surfaces 277 c, 277 d ofproximal bearing assembly 277 are disposed. First and second hinges 271a, 271 b are pivotable about proximal bearing assembly 277 independentof each other about at least two orthogonal axes and are rotatabletogether about longitudinal axis “X.” Distal end portion 275 c ofcentral tube 275 includes a pair of opposed distal tabs 275 g that forma first hinge 273 a of distal universal joint 273. Each of the distaltabs 275 g of central tube 275 has an inner arcuate surface 275 h inwhich outer arcuate surfaces 279 a, 279 b of a distal bearing assembly279 are disposed. Similar to proximal bearing assembly 277, distalbearing assembly 279 includes a ring-shaped body 279 f including aplurality of outer arcuate surfaces 279 a-279 d extending from an outersurface 279 g of ring-shaped body 279 f An inner surface 279 h ofring-shaped body 279 f defines an opening 279 e therethrough.

Distal firing shaft 276 includes a proximal end portion 276 a having ahemispherical shape, a body portion 276 b extending distally fromproximal end portion 276 a and defining a ledge 276 g that is recessedfrom an outer surface thereof, and a distal end portion 276 c extendingdistally from body portion 276 b. Proximal end portion 276 a includes abore 276 d defined therein and a pair of opposed proximal tabs 276 ethat form a second hinge 273 b of distal universal joint 273. The pairof opposed proximal tabs 276 e of the distal firing shaft 276 aremaintained at about a 90° angle with respect to the pair of opposeddistal tabs 275 g of central tube 275. Each of the proximal tabs 276 ehas an inner arcuate surface 276 f in which outer arcuate surfaces 279c, 279 d of distal bearing assembly 279 are disposed. Distal universaljoint 273 is substantially the same as proximal universal joint 271 andis formed by first and second hinges 273 a, 273 b that areinterconnected by distal bearing assembly 279 such that first and secondhinges 273 a, 273 b are pivotable about distal bearing assembly 279independently of each other and are rotatable together.

Bore 274 d defined in distal end portion 274 c of proximal firing member274 cooperates with each of opening 277 e defined in proximal bearingassembly 277, bore 275 d defined through central tube 275, opening 279 edefined in distal bearing assembly 279, and bore 276 d defined inproximal end portion 276 a of distal firing shaft 276 to receive aspring wire 290. Spring wire 290 is formed from resilient metals and/orpolymers, such as nitinol, spring stainless steel, alloys thereof, andthe like. Spring wire 290 is configured to bias the firing assembly 270along longitudinal axis “X” and is bendable upon articulation of gimbal250.

As seen in FIGS. 3, 10A, and 15, distal end portion 2040 of outer tube204 includes a first segment 2042, a second segment 2044, a thirdsegment 2046, and a fourth segment 2048.

First segment 2042 of distal end portion 2040 of outer tube 204 definesa pair of screw openings 2042 a, 2042 b that correspond with the pair ofscrew openings 284 d of distal mounting member 284. The pair of screwopenings 2042 a, 2042 b of first segment 2042 and the pair of screwopenings 284 d of distal mounting member 284 receive a pair of screws204 a, 204 b to secure proximal section 284 a of distal mounting member284 within an opening 2042 c defined within a distal end of firstsegment 2042.

Second segment 2044 of distal end portion 2040 of outer tube 204includes first and second shell halves 2044 a and 2044 b that matinglyengage each other, for example, by snap or friction fit, around proximaland distal universal joints 271, 273. A proximal section 2044 c ofsecond segment 2044 is secured within hemispherical opening 284 f ofdistal mounting member 284 and is rotatable therein. A distal section2044 d of second segment 2044 is configured to receive distal portion250 b of gimbal 250 which is disposed around distal universal joint 273.Second segment 2044 further includes a plurality of openings 2044 econfigured to receive cables 260 extending from gimbal 250 proximallytoward the pair of threaded sleeves 246, 248.

Third segment 2046 of distal end portion 2040 of outer tube 204 has acylindrical body 2046 a that mounts over proximal section 2044 c ofsecond segment 2044. Third segment 2046 includes a U-shaped shoe 2046 bthat extends distally from a distal surface of cylindrical body 2046 a.A central channel 2046 c is defined through U-shaped shoe 2046 b andcylindrical body 2046 a, and is configured to receive distal section2044 d of second segment 2044 which is rotatable therein.

Fourth segment 2048 of distal end portion 2040 of outer tube 204includes a pair of arms 2048 a, 2048 b that extends from fourth segment2048. The pair of arms 2048 a, 2048 b are disposed in spaced apart andmirrored relation to one another. A pair of screw openings 2048 c, 2048d is defined in fourth segment 2048 and are aligned with a pair of screwbores 2046 d, 2046 e defined within third segment 2046 so that a pair ofscrews 204 e, 204 f can be received by the pair of screw openings 2048c, 2048 d of the fourth segment 2048 and the pair of screw bores 2046 d,2046 e of the third segment 2046 to secure third and fourth segments2046, 2048 together. Fourth segment 2048 defines a plunger opening 2048e that receives a plunger assembly 2060 of distal end portion 2040 ofouter tube 204.

Plunger assembly 2060 includes a plunger 2060 a that is biased throughplunger opening 2048 e by a spring 2060 b (see FIG. 15). Plungerassembly 2060 and the pair of arms 2048 a, 2048 b cooperate tofacilitate securement of the proximal end of loading unit 300 to distalend portion 2040, as described in greater detail below (see FIGS. 17Aand 17B).

As illustrated in FIG. 10A, a tongue 2048 f depends from fourth segment2048 and defines an opening 2048 g therethrough that receives distal tip276 c of distal firing shaft 276 therethrough. Tongue 2048 f supports agear 2050 between a proximal surface of tongue 2048 f and a distalsurface of U-shaped shoe 2046 b of third segment 2046 so that teeth 2050a extending from gear 2050 are positioned between mating surfaces 2048 hof each of the pair of arms 2048 a, 2048 b of fourth segment 2048 ofdistal end portion 2040 of outer tube 204.

Inner surfaces of gear 2050 define a channel 2050 b therethrough. Innersurfaces of gear 2050 include a flat surface 2050 c (see FIG. 15) thatis supported on ledge 276 f of distal firing shaft 276 such that gear2050 and distal firing shaft 276 are keyed to one another.

Turning now to FIG. 16, loading unit 300 includes an anvil 310 and acartridge assembly 320 that are pinned together by a pair of pins 315 a,315 b and movable between open and closed conditions. Anvil 310 andcartridge assembly 320 cooperate to apply a plurality of linear rows offasteners “F” (e.g., staples). In certain embodiments, the fasteners “F”are of various sizes, and, in certain embodiments, the fasteners “F”have various lengths or rows, e.g., about 30, 45 and 60 mm in length.

Cartridge assembly 320 includes a base 322 secured to a mounting portion324, a frame portion 326, and a cartridge portion 328 defining aplurality of fastener retaining slots 328 a and a knife slot 328 b in atissue engaging surface thereof. Mounting portion 324 has matingsurfaces 324 a, 324 b on a proximal end thereof and defines a receivingchannel 324 c therein that supports frame portion 326, cartridge portion328, and a fastener firing assembly 330 therein. Cartridge assembly 320supports a biasing member 340 that engages anvil 310.

Fastener firing assembly 330 includes an electrical contact member 332in electrical communication with the circuit board of surgical device100 (FIG. 1A), a bearing member 334, a gear member 336 that engages gear2050 of distal end portion 2040 of outer tube 204, and a screw assembly338. Screw assembly 338 includes a lead screw 338 a, a drive beam 338 b,and an actuation sled 338 c that is engagable with a plurality of pushermembers 338 d.

Cartridge assembly 320 also supports a pair of plunger assemblies 350 a,350 b. Each of the pair of plunger assemblies 350 a, 350 b includes aspring 352, a plunger 354, and a pin 356 that secures each plungerassembly to mounting portion 324. Plunger assemblies 350 a, 350 bcooperate with the proximal end of cartridge portion 328 to facilitatesecurement of cartridge portion 328 within mounting portion 324.

In order to secure the proximal end of loading unit 300 to distal endportion 2040 of outer tube 204, the proximal end of loading unit 300 isaligned with distal end portion 2040 of outer tube 204 as seen in FIG.17A so that the proximal end of loading unit 300 can be snapped togetherwith distal end portion 2040 as seen in FIG. 17B. Referring also toFIGS. 10A and 16, mating surfaces 324 a, 324 b of loading unit 300engage with mating surfaces 2048 h of fourth segment 2048 so that theteeth of gear member 336 of loading unit 300 enmesh with the teeth ofgear 2050.

In operation, actuation of knob 205 d of joystick 205 c causes rocker205 e to contact one or more of the directional switches 205 b such thatthe direction of movement of the joystick 205 c causes a correspondingmovement in articulation assembly 230. Directional switches 205 b are inoperable communication with sensor(s) of articulation contact surface105 to communicate with the circuit board, activate one or both ofrotatable drive shafts 106 a, 106 c (due to an actuation of a motor (notshown) within handle housing 102), and effectuate rotation of threadedscrew assembly 244 of one or both of the pair of sleeve assemblies 240a, 240 b. In particular, rotation of each threaded screw assembly 244 iseffectuated by virtue of rotational engagement between input socket 244b of one of the pair of sleeve assemblies 240 a, 240 b and one ofrotatable drive shafts 106 a, 106 c. Rotation of threaded screw 244 aaxially moves the pair of threaded sleeves 246, 248 along the respectivesupport shaft between an approximated condition (see FIG. 9) and aseparated condition (see FIG. 4), as illustrated by lines “C1,” “C2,”“C3,” and “C4” shown in FIG. 7. Relative axial movement of the pair ofthreaded sleeves 246, 248 proximally draws/retracts/tightens one/a firstcable of one of the opposite pairs of cables (e.g., first cable 260 aand fourth cable 260 d being a first opposite pair of cables, and secondcable 260 b and third cable 260 c being a second opposite pair ofcables) of the plurality of cables 260 and distally letsout/extends/releases another/a second cable of one of the opposite pairsof cables to rotate/pivot/articulate gimbal 250.

Rotation of gimbal 250 causes a corresponding directional movement inproximal and distal universal joints 271, 273. As gimbal 250 rotates,distal portion 250 b of gimbal 250 engages cylindrical body 2046 aand/or U-shaped shoe 2046 b of third segment 2046 to articulate distalend portion 2040 relative to outer tube 204 about longitudinal axis “X.”Movement of distal end portion 2040 articulates loading unit 300relative to outer tube 204 about longitudinal axis “X” in any direction(e.g., omni-directionally) as seen in FIGS. 18-20. More particularly,while longitudinally fixed to first segment 2042 of distal end portion2040 of outer tube 204, loading unit 300, as well as second, third, andfourth segments 2044, 2046, 2048 of distal end portion 2040, can bearticulated in any direction relative to the “X” axis. Specifically,loading unit 300 can articulate about the “Y₁” and/or the “Z₁” axes thatextend from a proximal central point “P₁”, and/or about the “Y₂” and/orthe “Z₂” axes that extend from a distal central point “P₂” defined indistal end portion 2040 to position loading unit 300 at any desiredorientation.

Tension/slack in one or more of the plurality of cables 260 may need tobe adjusted, for example, before, during, and/or after one or more usesof system 10. To effectuate a tightening and/or loosening ofslack/tension during manufacturing or re-conditioning, a tool (notshown) is connected to each screw 243 (see FIG. 4) to impart rotationalmovement to one or both of screws 243. Rotation of screws 243 causes oneor both of the respective support shafts 242 to axially translate. Thus,rotation of one or both screws 243 adjusts tension in one or more of theplurality of cables 260 by moving one or both of the plurality of thepair of sleeve assemblies 240 a, 240 b as described above.

To fire the plurality of fasteners “F,” actuation pad 108 of device 100is actuated to rotate rotatable drive member 106 b (due to an activationof a motor (not shown) within handle housing 102). Rotation of rotatabledrive member 106 b causes proximal firing shaft 274, central tube 275,and distal firing shaft 276 to rotate together about longitudinal axis“X” such that gear 2050 rotates gear 336 of loading unit 300. Rotationof gear 336 of loading unit 300 rotates lead screw 338 a and enablesdrive beam 338 b to axially advance along lead screw 338 a and throughlongitudinal knife slot 328 b by virtue of the threaded engagementbetween lead screw 338 a and drive beam 338 b. Drive beam 338 b engagesanvil 310 to maintain anvil and cartridge assembly 310, 320 inapproximation. Distal advancement of drive beam 338 b advances actuationsled 338 c into engagement with the plurality of pusher members 328 andfires the plurality of fasteners “F” from the plurality of fastenerretention slots 328 a for forming against corresponding fastener formingpockets defined within anvil 310. Loading unit 300 can be reset andfastener cartridge 328 can be replaced so that loading unit 300 can thenbe re-fired as desired.

While certain embodiments have been described, other embodiments arepossible.

For example, other configurations of proximal and distal universaljoints of the firing assembly of adapter assemblies of the presentdisclosure are additionally or alternatively possible. With referencenow to FIG. 21, an embodiment of a firing assembly 270′ is substantiallysimilar to firing assembly 270 except that proximal and distal bearingassemblies 277′ and 279′ include a plurality of ball bearings 277 a′-277d′ and 279 a′-279 d′, respectively, that are welded together and definean opening 277 e′ and 279 e′ therethrough. Accordingly, each ballbearing defines an outer arcuate surface that is complementary in shapewith inner arcuate surfaces of proximal and distal tabs as describedabove.

Moreover, while proximal and distal tabs and proximal and distal bearingassemblies have been described as including complementary inner andouter arcuate surfaces, it should be appreciated that the tabs mayinclude any surface geometry complementary with the geometry of thebearing assemblies to allow articulation of the joints about at leasttwo axes as also described above.

Any of the components described herein may be fabricated from eithermetals, plastics, resins, composites or the like taking intoconsideration strength, durability, wearability, weight, resistance tocorrosion, ease of manufacturing, cost of manufacturing, and the like.

In embodiments, any of the components described herein, such as theloading unit and/or adapter, can include one or more microchips, suchas, for example a one-wire microchip (e.g., microchip model nos. DS2465,DS28E15, and/or DS2432, available from MAXIM INTEGRATED™, San Jose,Calif.) that electrically couple to the circuit board/controller ofsurgical device 100. Exemplary one-wire microchips are shown anddescribed in U.S. Pat. No. 6,239,732, the entire content of which isincorporated herein by reference. Any of these chips can includeencrypted authentication (e.g., SULU ID) and/or may be one wirecompatible.

Persons skilled in the art will understand that the structures andmethods specifically described herein and shown in the accompanyingfigures are non-limiting exemplary embodiments, and that thedescription, disclosure, and figures should be construed merely asexemplary of particular embodiments. It is to be understood, therefore,that the present disclosure is not limited to the precise embodimentsdescribed, and that various other changes and modifications may beeffected by one skilled in the art without departing from the scope orspirit of the disclosure. Additionally, the elements and features shownor described in connection with certain embodiments may be combined withthe elements and features of certain other embodiments without departingfrom the scope of the present disclosure, and that such modificationsand variations are also included within the scope of the presentdisclosure. Accordingly, the subject matter of the present disclosure isnot limited by what has been particularly shown and described.

What is claimed is:
 1. An adapter assembly for selectivelyinterconnecting a surgical device and a surgical loading unit, theadapter assembly comprising: a housing; an outer tube extending distallyfrom the housing along a longitudinal axis; a firing assembly supportedwithin the housing and the outer tube, the firing assembly including: aproximal firing shaft; a central tube intersecting the proximal firingshaft at a proximal universal joint, the central tube movable relativeto the proximal firing shaft about the proximal universal joint; and adistal firing shaft intersecting the central tube at a distal universaljoint, the distal firing shaft movable relative to the central tubeabout the distal universal joint; and an articulation assembly includinga gimbal supported in a distal end portion of the outer tube, the gimbaldefining a gimbal bore therethrough configured and adapted to receivethe distal universal joint such that the gimbal is disposed around thedistal universal joint.
 2. The adapter assembly of claim 1, wherein theproximal firing shaft includes opposed distal tabs that form a firsthinge of the proximal universal joint and the central tube includesopposed proximal tabs that form a second hinge of the proximal universaljoint, the first and second hinges of the proximal universal jointinterconnected by a proximal bearing assembly.
 3. The adapter assemblyof claim 2, wherein the first and second hinges of the proximaluniversal joint are pivotable about the proximal bearing assemblyindependently of each other and are rotatable together.
 4. The adapterassembly of claim 2, wherein each of the opposed distal tabs of theproximal firing shaft and the opposed proximal tabs of the central tubeincludes an inner arcuate surface, and wherein the proximal bearingassembly has a plurality of outer arcuate surfaces, each outer arcuatesurface disposed in one of the inner arcuate surfaces of the proximalfiring shaft or the central tube.
 5. The adapter assembly of claim 4,wherein the proximal bearing assembly includes a ring-shaped bodydefining the plurality of outer arcuate surfaces.
 6. The adapterassembly of claim 4, wherein the proximal bearing assembly includes aplurality of ball bearing welded together and defining an openingtherethrough, the plurality of ball bearings defining the plurality ofouter arcuate surfaces.
 7. The adapter assembly of claim 1, wherein thecentral tube includes opposed distal tabs that form a first hinge of thedistal universal joint and the distal firing shaft includes opposedproximal tabs that form a second hinge of the distal universal joint,the first and second hinges of the distal universal joint interconnectedby a distal bearing assembly.
 8. The adapter assembly of claim 7,wherein the first and second hinges of the distal universal joint arepivotable about the distal bearing assembly independently of each otherand are rotatable together.
 9. The adapter assembly of claim 7, whereineach of the opposed distal tabs of the central tube and the opposedproximal tabs of the distal firing shaft includes an inner arcuatesurface, and wherein the distal bearing assembly has a plurality ofouter arcuate surfaces, each outer arcuate surface disposed in one ofthe inner arcuate surfaces of the central tube or the distal firingshaft.
 10. The adapter assembly of claim 1, wherein a spring wireextends through a distal end portion of the proximal firing shaft, thecentral tube, and a proximal end portion of the distal firing shaft, thespring wire configured to bias the firing assembly along thelongitudinal axis of the outer tube.
 11. The adapter assembly of claim1, wherein the articulation assembly includes a pair of sleeveassemblies supported in the housing, the pair of sleeve assembliescoupled to the gimbal by a plurality of cables.
 12. The adapter assemblyof claim 1, further including an articulation actuator secured to thehousing.
 13. The adapter assembly of claim 12, wherein the articulationactuator includes a support member disposed within the housing and ajoystick pivotally coupled to the support member, the joystick extendingoutwardly from the housing.
 14. The adapter assembly of claim 13,wherein the articulation actuator includes a plurality of directionalswitches disposed within the housing and the joystick includes a rockerconfigured and dimensioned to contact one or more of the directionalswitches upon movement of the joystick to cause a corresponding movementin the articulation assembly.
 15. An electromechanical surgical system,comprising: a surgical device including a handle housing supporting aplurality of rotatable drive shafts; a surgical loading unit includingat least one axially translatable drive member; and an adapter assemblyselectively connectable between the surgical device and the surgicalloading unit, the adapter assembly including: a housing; an outer tubeextending distally from the housing along a longitudinal axis, a distalend portion of the outer tube releasably couplable to the axiallytranslatable drive member of the surgical loading unit; and a firingassembly supported within the housing and the outer tube, the firingassembly including: a proximal firing shaft; a central tube intersectingthe proximal firing shaft at a proximal universal joint, the centraltube movable relative to the proximal firing shaft about the proximaluniversal joint; a distal firing shaft intersecting the central tube ata distal universal joint, the distal firing shaft movable relative tothe central tube about the distal universal joint; and an input socketreleasably couplable to at least one of the plurality of rotatable driveshafts of the surgical device.
 16. The electromechanical surgical systemof claim 15, wherein the adapter assembly further includes anarticulation assembly including a gimbal and a plurality of threadedsleeves, the plurality of threaded sleeves coupled to the gimbal by aplurality of cables.
 17. The electromechanical surgical system of claim16, wherein the adapter assembly further includes an articulationactuator secured to the housing and movement of the articulationactuator causes a corresponding movement in the articulation assembly.18. An electromechanical surgical system, comprising: a surgical deviceincluding a handle housing; a surgical loading unit; and an adapterassembly selectively connectable between the surgical device and thesurgical loading unit, the adapter assembly including: a housing; anouter tube extending distally from the housing along a longitudinalaxis; a firing assembly supported within the housing and the outer tube,the firing assembly including: a proximal firing shaft; a central tubeintersecting the proximal firing shaft at a proximal universal joint,the central tube movable relative to the proximal firing shaft about theproximal universal joint; and a distal firing shaft intersecting thecentral tube at a distal universal joint, the distal firing shaftmovable relative to the central tube about the distal universal joint;and an articulation assembly including a gimbal supported in a distalend portion of the outer tube, the gimbal defining a gimbal boretherethrough configured and adapted to receive the distal universaljoint such that the gimbal is disposed around the distal universaljoint.